... | ... | @@ -96,6 +96,16 @@ While we have no video to see the behavior of the robot described in figure 6, w |
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### Vehicle 3
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We chose to create the robot by combining sound sensors and light sensors.
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Based on our knowledge from the last exercises, we can see from figure 7 that the robot will seek both light and sound, since the sound sensors have a 'straight' connection to the motors and are inhibitory, causing the robot to steer towards sound, and the light sensors have a 'crossed' connection to the motors, but are exitatory, and as such cause the robot to steer towards light sources as well.
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We wrote a program **RaveBot.java** that tries to seek towards places with both high sound and high light levels. The program is mostly a mash of our previous programs **SoundLover.java** and **LightLover.java**, where we simply add together the two values received from the sensors, and then dividing by two (halfing each sensors impact), and then using the value as motor power for the appropriately connected motor, according to the drawing in figure 7. The result can be seen in video [RAVE BOT TIME]
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[WUBWUBWUBWUBWUB]
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The video shows that the robot correctly powers up the appropriate motor to seek towards light when seen. It however mostly stops up when hearing sound, with a slight veering towards the sound source. This is expected, as our inhibitory implementation of the sound sensor causes it to give a great deal of power to both sensors when there is no sound present. When we whistle near one sound sensor, the opposite sound sensor is bound to pick up a great deal of sound as well (although not as much), resulting in lower motor power for both motors. All in all, the combination of sensors works reasonably well, but it could be argued that it would be possible to find a more refined way of calculating the combination of sensor readings, rather than the pretty naive "average of the two" approach that we used.
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## Conclusion
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## References
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